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Stock-Based Compensation - Summary of outstanding stock options (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
6 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
$ / shares
Shares    
Outstanding at beginning of period (in shares) | shares 194  
Granted (in shares) | shares 0  
Exercised (in shares) | shares (8)  
Forfeited (in shares) | shares (1)  
Expired (in shares) | shares (5)  
Outstanding at end of period (in shares) | shares 180  
Vested and expected to vest (in shares) | shares 176  
Exercisable (in shares) | shares 145  
Weighted Avg. Exercise Price    
Weighted Avg. Exercise Price, Outstanding at beginning of period (in dollars per share) | $ / shares $ 4.12 $ 4.12
Weighted Avg. Exercise Price, Granted (in dollars per share) | $ / shares 0  
Weighted Avg. Exercise Price, Exercised (in dollars per share) | $ / shares 2.15  
Weighted Avg. Exercise Price, Forfeited (in dollars per share) | $ / shares 5.52  
Weighted Avg. Exercise Price, Expired (in dollars per share) | $ / shares 6.80  
Weighted Avg. Exercise Price, Outstanding at end of period (in dollars per share) | $ / shares 4.12  
Weighted Avg. Exercise Price, Vested and expected to vest (in dollars per share) | $ / shares 4.10  
Weighted Avg. Exercise Price, Exercisable (in dollars per share) | $ / shares $ 4.03  
Additional disclosures    
Wtd. Avg. Remaining Contractual Life (Yrs), Outstanding 4 years 6 months  
Wtd. Avg. Remaining Contractual Life (Yrs), Vested and expected to vest 4 years 3 months 18 days  
Wtd. Avg. Remaining Contractual Life (Yrs), Exercisable 3 years 8 months 12 days  
Aggregate Intrinsic Value, Exercised | $ $ 11  
Aggregate Intrinsic Value, Forfeited | $ 0  
Aggregate Intrinsic Value, Outstanding | $ 21  
Aggregate Intrinsic Value, Vested and expected to vest | $ 21  
Aggregate Intrinsic Value, Exercisable | $ $ 17